Tracking Control of Input Constrained Discrete-Time Systems Considering Transient Response(Mechanical Systems)

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  • WADA Nobutaka
    Department of Mechanical and Aerospace Engineering, Tottori University
  • MINAMI Masayuki
    広島大学大学院工学研究科機械システム工学専攻
  • SAEKI Masami
    広島大学大学院工学研究科機械システム工学専攻
  • NISHIMURA Masaharu
    Department of Mechanical and Aerospace Engineering, Tottori University

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Other Title
  • 過渡応答を考慮した入力拘束システムの目標信号追従制御(機械力学,計測,自動制御)
  • 過渡応答を考慮した入力拘束システムの目標信号追従制御
  • カト オウトウ オ コウリョシタ ニュウリョク コウソク システム ノ モクヒョウ シンゴウ ツイジュウ セイギョ

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Abstract

In this paper, a tracking control problem in the presence of actuator saturation is addressed. Firstly, a control law that guarantees both closed-loop stability and asymptotic convergence of the tracking error in the case of a constant reference signal is introduced. The feedback gain of the control law is adjusted, at each sampling time, so that both large region of attraction and fast convergence of the tracking error are achieved. Secondly, based on the control law, a control algorithm that can be used for arbitrary time-varying reference signals is proposed. The most important feature of the proposed control algorithm is that the overshoot of the plant output can be effectively attenuated. Moreover, the effectiveness of the proposed control algorithm is shown through experimental results.

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